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<div class="title">D:/Workspace/Arduino/prencar/LineCenter.cpp</div>  </div>
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<a href="_line_center_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;Arduino.h&quot;</span>
<a name="l00002"></a>00002 <span class="preprocessor">#include &quot;<a class="code" href="_line_center_8h.html">LineCenter.h</a>&quot;</span>
<a name="l00003"></a>00003 <span class="preprocessor">#include &quot;<a class="code" href="_move_8h.html">Move.h</a>&quot;</span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;<a class="code" href="_configuration_8h.html">Configuration.h</a>&quot;</span>
<a name="l00005"></a>00005 
<a name="l00009"></a><a class="code" href="class_line_center.html#adee08b78d744f632971ae14d653f36a0">00009</a> <a class="code" href="class_line_center.html#adee08b78d744f632971ae14d653f36a0">LineCenter::LineCenter</a>()
<a name="l00010"></a>00010 {
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 }
<a name="l00013"></a>00013 
<a name="l00019"></a><a class="code" href="class_line_center.html#a13e69abdd08c2da81f189e69642d980d">00019</a> <span class="keywordtype">void</span> <a class="code" href="class_line_center.html#a13e69abdd08c2da81f189e69642d980d">LineCenter::begin</a>(){
<a name="l00020"></a>00020   <a class="code" href="class_line_center.html#a13e69abdd08c2da81f189e69642d980d">LineFollow::begin</a>();
<a name="l00021"></a>00021 
<a name="l00022"></a>00022   <a class="code" href="class_line_center.html#a9b09f8967dc05aa2e65db23b7eb0af47" title="The reference to the extended move class.">_extMove</a> = <a class="code" href="class_extended_move.html#a8ba9c560726a121efa0c78f26780e46a">ExtendedMove::getInstance</a>();
<a name="l00023"></a>00023 
<a name="l00024"></a>00024   <a class="code" href="class_line_center.html#a56e3c04c97ecffaa6cd16a16d37992bc" title="This variable is set to true as soon as the car is centered completely.">lineCenteringIsFinished</a> = <span class="keyword">false</span>;
<a name="l00025"></a>00025   <a class="code" href="class_line_center.html#a19b97d1ed9c6db5886e93f03456751b4">_centeringFromLeft</a> = <span class="keyword">true</span>;
<a name="l00026"></a>00026 }
<a name="l00027"></a>00027 
<a name="l00034"></a><a class="code" href="class_line_center.html#a736d4cd402c6dc398b374cae8aab5740">00034</a> <span class="keywordtype">void</span> <a class="code" href="class_line_center.html#a736d4cd402c6dc398b374cae8aab5740">LineCenter::startIt</a>(<span class="keywordtype">boolean</span> comingFromLeft){
<a name="l00035"></a>00035   <a class="code" href="class_line_center.html#a19b97d1ed9c6db5886e93f03456751b4">_centeringFromLeft</a> = comingFromLeft;
<a name="l00036"></a>00036   <a class="code" href="class_line_center.html#a56e3c04c97ecffaa6cd16a16d37992bc" title="This variable is set to true as soon as the car is centered completely.">lineCenteringIsFinished</a> = <span class="keyword">false</span>;
<a name="l00037"></a>00037   <a class="code" href="class_line_center.html#a9e851823c54f01bada030c9bd195e059">_timeLineCenterStarted</a> = millis();
<a name="l00038"></a>00038   <a class="code" href="class_line_center.html#adb6c4b5e11d9a309fb994e8fd02c630e" title="Holds the timestamp of the time when the last curve left check was done.">_timeLastLineCenterCheck</a> = millis();
<a name="l00039"></a>00039 
<a name="l00040"></a>00040   <span class="keywordflow">if</span>(comingFromLeft){
<a name="l00041"></a>00041     <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(84);
<a name="l00042"></a>00042   }
<a name="l00043"></a>00043   <span class="keywordflow">else</span>{
<a name="l00044"></a>00044     <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(85);
<a name="l00045"></a>00045   }
<a name="l00046"></a>00046 }
<a name="l00047"></a>00047 
<a name="l00053"></a><a class="code" href="class_line_center.html#aa466b77cad70e564633e106efde81d4f">00053</a> <span class="keywordtype">void</span> <a class="code" href="class_line_center.html#aa466b77cad70e564633e106efde81d4f">LineCenter::doJob</a>(){
<a name="l00054"></a>00054   <span class="keywordflow">if</span>(<a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a38df8bfaaee037f566990d464bd25904" title="Interval in milliseconds in which the line centering job shall be executed.">lineCenterInterval</a> == 0 || millis() &gt; <a class="code" href="class_line_center.html#adb6c4b5e11d9a309fb994e8fd02c630e" title="Holds the timestamp of the time when the last curve left check was done.">_timeLastLineCenterCheck</a> + <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a38df8bfaaee037f566990d464bd25904" title="Interval in milliseconds in which the line centering job shall be executed.">lineCenterInterval</a>){
<a name="l00055"></a>00055     <a class="code" href="class_line_center.html#adb6c4b5e11d9a309fb994e8fd02c630e" title="Holds the timestamp of the time when the last curve left check was done.">_timeLastLineCenterCheck</a> = millis();
<a name="l00056"></a>00056 
<a name="l00057"></a>00057     <span class="keywordtype">long</span> parameters[3];
<a name="l00058"></a>00058 
<a name="l00059"></a>00059     <span class="comment">//read the line sensors</span>
<a name="l00060"></a>00060     <span class="keywordtype">int</span> sensorValues[2];
<a name="l00061"></a>00061     <a class="code" href="class_line_follow.html#af85fe355ee0699cabc3c817d10aa8b9d">readLineSensors</a>(sensorValues);
<a name="l00062"></a>00062     parameters[0] = sensorValues[0];
<a name="l00063"></a>00063     parameters[1] = sensorValues[1];
<a name="l00064"></a>00064     parameters[2] = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ab86a9d57799e36b0b985ad3b2e3bbfcd" title="Threshold value from black to white.">whiteThresholdLineSensors</a>;
<a name="l00065"></a>00065 
<a name="l00066"></a>00066     <span class="comment">//first check, if the measured values are in the range defined in _conf-&gt;lineCenterLineInMiddleDifference</span>
<a name="l00067"></a>00067     <span class="keywordtype">int</span> sensorGap = sensorValues[0] - sensorValues[1];
<a name="l00068"></a>00068     <span class="keywordflow">if</span>(sensorGap &lt; 0) sensorGap *= -1;
<a name="l00069"></a>00069     <span class="keywordflow">if</span>(sensorGap &lt; _conf-&gt;lineCenterLineInMiddleDifference &amp;&amp; sensorValues[0] &gt; <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ab86a9d57799e36b0b985ad3b2e3bbfcd" title="Threshold value from black to white.">whiteThresholdLineSensors</a>){
<a name="l00070"></a>00070       <a class="code" href="class_line_center.html#a9b09f8967dc05aa2e65db23b7eb0af47" title="The reference to the extended move class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#ae80076eb8ea7ea00e7563e4bbf4657b6">stopCurrentQueue</a>();
<a name="l00071"></a>00071       <a class="code" href="class_line_center.html#a56e3c04c97ecffaa6cd16a16d37992bc" title="This variable is set to true as soon as the car is centered completely.">lineCenteringIsFinished</a> = <span class="keyword">true</span>;
<a name="l00072"></a>00072       <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(86);
<a name="l00073"></a>00073     }
<a name="l00074"></a>00074     
<a name="l00075"></a>00075     <span class="comment">//if a correction is in progress, let it finish first</span>
<a name="l00076"></a>00076     <span class="keywordflow">if</span>(<a class="code" href="class_line_center.html#a9b09f8967dc05aa2e65db23b7eb0af47" title="The reference to the extended move class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#a9bd37ba3d8f98170dd33c8726934735a">isExecutionInProcess</a>()){
<a name="l00077"></a>00077       <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(89);
<a name="l00078"></a>00078       <span class="keywordflow">return</span>;
<a name="l00079"></a>00079     }
<a name="l00080"></a>00080 
<a name="l00081"></a>00081     <span class="comment">//now check, if the car has to drive straight because the left or right sensor (depenging on  is on &quot;centeringFromLeft&quot;)</span>
<a name="l00082"></a>00082     <span class="comment">//measures black ground.</span>
<a name="l00083"></a>00083     <span class="comment">//if not drive a curve according to the value set in &quot;centeringFromLeft&quot;</span>
<a name="l00084"></a>00084     <span class="keywordflow">if</span>(<a class="code" href="class_line_center.html#a19b97d1ed9c6db5886e93f03456751b4">_centeringFromLeft</a>){
<a name="l00085"></a>00085       <span class="keywordflow">if</span>(sensorValues[0] &gt; <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ab86a9d57799e36b0b985ad3b2e3bbfcd" title="Threshold value from black to white.">whiteThresholdLineSensors</a>){
<a name="l00086"></a>00086         <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(87, parameters, 3);
<a name="l00087"></a>00087         <a class="code" href="class_line_follow.html#ac6fe17d43571248ea2e74fade7ceb5bd" title="The reference to the move class to control the motors.">_move</a>-&gt;<a class="code" href="class_move.html#a9c5dc5c3a98abece0c2f40085c3601be">controlMotors</a>(<a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>, <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a2ad74fa43a9a580b64d7720fb89ca38b" title="The speed of both motors while driving straight during the line centering.">lineCenterStraightSpeed</a>, <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>, <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a2ad74fa43a9a580b64d7720fb89ca38b" title="The speed of both motors while driving straight during the line centering.">lineCenterStraightSpeed</a>);
<a name="l00088"></a>00088       }
<a name="l00089"></a>00089       <span class="keywordflow">else</span>{
<a name="l00090"></a>00090         <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(88, parameters, 3);
<a name="l00091"></a>00091         <a class="code" href="class_line_center.html#a4496fa59d40b06887e2dbc881b9b4ce7">doCorrection</a>();
<a name="l00092"></a>00092       }
<a name="l00093"></a>00093     }
<a name="l00094"></a>00094     <span class="keywordflow">else</span>{
<a name="l00095"></a>00095       <span class="keywordflow">if</span>(sensorValues[0] &gt; <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ab86a9d57799e36b0b985ad3b2e3bbfcd" title="Threshold value from black to white.">whiteThresholdLineSensors</a>){
<a name="l00096"></a>00096         <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(87, parameters, 3);
<a name="l00097"></a>00097         <a class="code" href="class_line_follow.html#ac6fe17d43571248ea2e74fade7ceb5bd" title="The reference to the move class to control the motors.">_move</a>-&gt;<a class="code" href="class_move.html#a9c5dc5c3a98abece0c2f40085c3601be">controlMotors</a>(<a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>, <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a2ad74fa43a9a580b64d7720fb89ca38b" title="The speed of both motors while driving straight during the line centering.">lineCenterStraightSpeed</a>, <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>, <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a2ad74fa43a9a580b64d7720fb89ca38b" title="The speed of both motors while driving straight during the line centering.">lineCenterStraightSpeed</a>);
<a name="l00098"></a>00098       }
<a name="l00099"></a>00099       <span class="keywordflow">else</span>{
<a name="l00100"></a>00100         <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(88, parameters, 3);
<a name="l00101"></a>00101         <a class="code" href="class_line_center.html#a4496fa59d40b06887e2dbc881b9b4ce7">doCorrection</a>();
<a name="l00102"></a>00102       }
<a name="l00103"></a>00103     }
<a name="l00104"></a>00104   }
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106 
<a name="l00107"></a><a class="code" href="class_line_center.html#a4496fa59d40b06887e2dbc881b9b4ce7">00107</a> <span class="keywordtype">void</span> <a class="code" href="class_line_center.html#a4496fa59d40b06887e2dbc881b9b4ce7">LineCenter::doCorrection</a>(){
<a name="l00108"></a>00108   <span class="comment">//create an extMove command and start it&#39;s execution</span>
<a name="l00109"></a>00109   <a class="code" href="struct_move_command.html">MoveCommand</a>* mc = <a class="code" href="class_line_center.html#a9b09f8967dc05aa2e65db23b7eb0af47" title="The reference to the extended move class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#a5f34e9081613ec4d1796cac234b9cbb5" title="Current queue with commands that are executed.">commandQueue</a>;
<a name="l00110"></a>00110   mc[0].<a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad" title="Defines for how long this command shall be executed (milliseconds).">duration</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#aa7231458f16484140c8e08b5aa81a009" title="The duration while the car during the correction is driving backwards.">lineCenterDriveBackDuration</a>;
<a name="l00111"></a>00111   mc[0].<a class="code" href="struct_move_command.html#a88e7e4c62bf65a3cf306ff587dd8b55b">dirLeftMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02ab0b7e8cfed43da5fcfd380964736fadc" title="The motor rotates backward.">backwards</a>;
<a name="l00112"></a>00112   mc[0].<a class="code" href="struct_move_command.html#a645219cea821358f4a3ae7c8e2192ed9">dirRightMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02ab0b7e8cfed43da5fcfd380964736fadc" title="The motor rotates backward.">backwards</a>;
<a name="l00113"></a>00113 
<a name="l00114"></a>00114   <span class="keywordflow">if</span>(<a class="code" href="class_line_center.html#a19b97d1ed9c6db5886e93f03456751b4">_centeringFromLeft</a>){
<a name="l00115"></a>00115     mc[0].<a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a249647d370af85b1840c04137c766615" title="The speed of the left motor during the line centering process if the car is reaching the line from th...">lineCenterFromLeftMotorLeft</a>;
<a name="l00116"></a>00116     mc[0].<a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#aca327c9b82e6e4bdb9f311e184f2dbc3" title="The speed of the right motor during the line centering process if the car is reaching the line from t...">lineCenterFromLeftMotorRight</a>;
<a name="l00117"></a>00117   }<span class="keywordflow">else</span>{
<a name="l00118"></a>00118     mc[0].<a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a42e5b6bb3d04f2591500fdd60221c087" title="The speed of the left motor during the line centering process if the car is reaching the line from th...">lineCenterFromRightMotorLeft</a>;
<a name="l00119"></a>00119     mc[0].<a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a> = <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a56bd213c8cf180715cd6d585187e76d3" title="The speed of the right motor during the line centering process if the car is reaching the line from t...">lineCenterFromRightMotorRight</a>;
<a name="l00120"></a>00120   }
<a name="l00121"></a>00121 
<a name="l00122"></a>00122   <a class="code" href="class_line_center.html#a9b09f8967dc05aa2e65db23b7eb0af47" title="The reference to the extended move class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#a816f77b595c0ca03d44dd21b2d4de5ba">startCurrentQueue</a>(1);
<a name="l00123"></a>00123 }
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